# header
std_msgs/Header header

uint16  week
float64 weeksec

float64 latitude
float64 longitude
float64 altitude

float64 velocity_north
float64 velocity_east
float64 velocity_ground

float64 roll
float64 pitch
float64 yaw

# Navigation state
uint8 nav_state

uint8 NAV_STATE_INS = 0
uint8 NAV_STATE_SPP = 1
uint8 NAV_STATE_FLOAT = 2
uint8 NAV_STATE_FIXED = 3